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Diffstat (limited to 'modules/bullet/space_bullet.h')
| -rw-r--r-- | modules/bullet/space_bullet.h | 176 |
1 files changed, 176 insertions, 0 deletions
diff --git a/modules/bullet/space_bullet.h b/modules/bullet/space_bullet.h new file mode 100644 index 0000000000..cbbfdac1d7 --- /dev/null +++ b/modules/bullet/space_bullet.h @@ -0,0 +1,176 @@ +/*************************************************************************/ +/* space_bullet.h */ +/* Author: AndreaCatania */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* http://www.godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/*************************************************************************/ + +#ifndef SPACE_BULLET_H +#define SPACE_BULLET_H + +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h" +#include "LinearMath/btScalar.h" +#include "LinearMath/btTransform.h" +#include "LinearMath/btVector3.h" +#include "core/variant.h" +#include "core/vector.h" +#include "godot_result_callbacks.h" +#include "rid_bullet.h" +#include "servers/physics_server.h" + +class AreaBullet; +class btBroadphaseInterface; +class btCollisionDispatcher; +class btConstraintSolver; +class btDefaultCollisionConfiguration; +class btDynamicsWorld; +class btDiscreteDynamicsWorld; +class btEmptyShape; +class btGhostPairCallback; +class btSoftRigidDynamicsWorld; +class btSoftBodyWorldInfo; +class ConstraintBullet; +class CollisionObjectBullet; +class RigidBodyBullet; +class SpaceBullet; +class SoftBodyBullet; + +class BulletPhysicsDirectSpaceState : public PhysicsDirectSpaceState { + GDCLASS(BulletPhysicsDirectSpaceState, PhysicsDirectSpaceState) +private: + SpaceBullet *space; + +public: + BulletPhysicsDirectSpaceState(SpaceBullet *p_space); + + virtual int intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION); + virtual bool intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION, bool p_pick_ray = false); + virtual int intersect_shape(const RID &p_shape, const Transform &p_xform, float p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION); + virtual bool cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &p_closest_safe, float &p_closest_unsafe, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION, ShapeRestInfo *r_info = NULL); + /// Returns the list of contacts pairs in this order: Local contact, other body contact + virtual bool collide_shape(RID p_shape, const Transform &p_shape_xform, float p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION); + virtual bool rest_info(RID p_shape, const Transform &p_shape_xform, float p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_layer = 0xFFFFFFFF, uint32_t p_object_type_mask = TYPE_MASK_COLLISION); + virtual Vector3 get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const; +}; + +class SpaceBullet : public RIDBullet { +private: + friend class AreaBullet; + friend void onBulletTickCallback(btDynamicsWorld *world, btScalar timeStep); + friend class BulletPhysicsDirectSpaceState; + + btBroadphaseInterface *broadphase; + btDefaultCollisionConfiguration *collisionConfiguration; + btCollisionDispatcher *dispatcher; + btConstraintSolver *solver; + btDiscreteDynamicsWorld *dynamicsWorld; + btGhostPairCallback *ghostPairCallback; + GodotFilterCallback *godotFilterCallback; + btSoftBodyWorldInfo *soft_body_world_info; + + BulletPhysicsDirectSpaceState *direct_access; + Vector3 gravityDirection; + real_t gravityMagnitude; + + Vector<AreaBullet *> areas; + + Vector<Vector3> contactDebug; + int contactDebugCount; + +public: + SpaceBullet(bool p_create_soft_world); + virtual ~SpaceBullet(); + + void flush_queries(); + void step(real_t p_delta_time); + + _FORCE_INLINE_ btCollisionDispatcher *get_dispatcher() { return dispatcher; } + _FORCE_INLINE_ btSoftBodyWorldInfo *get_soft_body_world_info() { return soft_body_world_info; } + _FORCE_INLINE_ bool is_using_soft_world() { return soft_body_world_info; } + + /// Used to set some parameters to Bullet world + /// @param p_param: + /// AREA_PARAM_GRAVITY to set the gravity magnitude of entire world + /// AREA_PARAM_GRAVITY_VECTOR to set the gravity direction of entire world + void set_param(PhysicsServer::AreaParameter p_param, const Variant &p_value); + /// Used to get some parameters to Bullet world + /// @param p_param: + /// AREA_PARAM_GRAVITY to get the gravity magnitude of entire world + /// AREA_PARAM_GRAVITY_VECTOR to get the gravity direction of entire world + Variant get_param(PhysicsServer::AreaParameter p_param); + + void set_param(PhysicsServer::SpaceParameter p_param, real_t p_value); + real_t get_param(PhysicsServer::SpaceParameter p_param); + + void add_area(AreaBullet *p_area); + void remove_area(AreaBullet *p_area); + void reload_collision_filters(AreaBullet *p_area); + + void add_rigid_body(RigidBodyBullet *p_body); + void remove_rigid_body(RigidBodyBullet *p_body); + void reload_collision_filters(RigidBodyBullet *p_body); + + void add_soft_body(SoftBodyBullet *p_body); + void remove_soft_body(SoftBodyBullet *p_body); + void reload_collision_filters(SoftBodyBullet *p_body); + + void add_constraint(ConstraintBullet *p_constraint, bool disableCollisionsBetweenLinkedBodies = false); + void remove_constraint(ConstraintBullet *p_constraint); + + int get_num_collision_objects() const; + void remove_all_collision_objects(); + + BulletPhysicsDirectSpaceState *get_direct_state(); + + void set_debug_contacts(int p_amount) { contactDebug.resize(p_amount); } + _FORCE_INLINE_ bool is_debugging_contacts() const { return !contactDebug.empty(); } + _FORCE_INLINE_ void reset_debug_contact_count() { + contactDebugCount = 0; + } + _FORCE_INLINE_ void add_debug_contact(const Vector3 &p_contact) { + if (contactDebugCount < contactDebug.size()) contactDebug[contactDebugCount++] = p_contact; + } + _FORCE_INLINE_ Vector<Vector3> get_debug_contacts() { return contactDebug; } + _FORCE_INLINE_ int get_debug_contact_count() { return contactDebugCount; } + + const Vector3 &get_gravity_direction() const { return gravityDirection; } + real_t get_gravity_magnitude() const { return gravityMagnitude; } + + void update_gravity(); + + bool test_body_motion(RigidBodyBullet *p_body, const Transform &p_from, const Vector3 &p_motion, real_t p_margin, PhysicsServer::MotionResult *r_result); + +private: + void create_empty_world(bool p_create_soft_world); + void destroy_world(); + void check_ghost_overlaps(); + void check_body_collision(); + + bool recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_from, btScalar p_maxPenetrationDepth, btScalar p_depenetration_speed, btVector3 &out_recover_position); +}; +#endif |